private void CreatePredictRequest()
{
var predict_x = new List <float>();
// Find the group middle position
Vector3 startPos = new Vector3();
foreach (var waterDrop in waterDrops)
{
startPos += waterDrop.transform.position;
}
startPos /= waterDrops.Count();
foreach (var waterDrop in waterDrops)
{
var reducedPosition = (waterDrop.transform.position - startPos) / positionReduceFactor;
var reducedVelocity = waterDrop.GetComponent <WaterDropBody>().Velocity / velocityReduceFactor;
predict_x.Add(reducedPosition.x);
predict_x.Add(reducedPosition.y);
predict_x.Add(reducedPosition.z);
}
foreach (var plane in planes)
{
var verticeList = plane.GetComponent <MeshFilter>().sharedMesh.vertices;
List <int> verticeIndexes = new List <int> {
0, 10, 110, 120
};
foreach (var verticeIndex in verticeIndexes)
{
var corner = (plane.transform.TransformPoint(verticeList[verticeIndex]) - startPos) / positionReduceFactor;
predict_x.Add(corner.x);
predict_x.Add(corner.y);
predict_x.Add(corner.z);
}
}
var request = TelegramFactory.CreatePredictRequest(predict_x);
externalCommunication.SendAsynch(request, CreatePredictRequestAnswer);
}
void NotifyAllFixedUpdateSet(UpdateTracker.UpdateEventType updateEventType)
{
if (DateTime.Now - scriptStart < TimeSpan.FromMilliseconds(delayStartMs))
{
return;
}
float positionReduceFactor = 1000;
float velocityReduceFactor = 1;
var training_x = new List <float>();
var training_y = new List <float>();
// Find the group middle position
Vector3 startPos = new Vector3();
foreach (var waterDrop in waterDrops)
{
startPos += waterDrop.transform.position;
}
startPos /= waterDrops.Count();
foreach (var waterDrop in waterDrops)
{
var stateHistory = waterDrop.GetComponent <StateHistory>();
var rigidBody = waterDrop.GetComponent <Rigidbody>();
var positionHistory = stateHistory.GetHistory <Vector3>(StateHistory.HistoryParameterType.Position);
var velocityHistory = stateHistory.GetHistory <Vector3>(StateHistory.HistoryParameterType.Velocity);
if (velocityHistory.Count() == stepsToPredict)
{
var lastPosReduced = (positionHistory.Dequeue() - startPos) / positionReduceFactor;
var earlierVelocity = velocityHistory.Dequeue();
var reducedEarlierVelocity = earlierVelocity / velocityReduceFactor;
//training_x.Add(reducedEarlierVelocity.x);
//training_x.Add(reducedEarlierVelocity.y);
//training_x.Add(reducedEarlierVelocity.z);
training_x.Add(lastPosReduced.x);
training_x.Add(lastPosReduced.y);
training_x.Add(lastPosReduced.z);
foreach (var laterVelocity in velocityHistory)
{
training_y.Add(laterVelocity.x - earlierVelocity.x);
training_y.Add(laterVelocity.y - earlierVelocity.y);
training_y.Add(laterVelocity.z - earlierVelocity.z);
earlierVelocity = laterVelocity;
}
var velocityNow = rigidBody.velocity;
training_y.Add(velocityNow.x - earlierVelocity.x);
training_y.Add(velocityNow.y - earlierVelocity.y);
training_y.Add(velocityNow.z - earlierVelocity.z);
}
}
//VerticeListToShow.Clear();
foreach (var plane in planes)
{
var verticeList = plane.GetComponent <MeshFilter>().sharedMesh.vertices;
List <int> verticeIndexes = new List <int> {
0, 10, 110, 120
};
foreach (var verticeIndex in verticeIndexes)
{
var corner = (plane.transform.TransformPoint(verticeList[verticeIndex]) - startPos) / positionReduceFactor;
training_x.Add(corner.x);
training_x.Add(corner.y);
training_x.Add(corner.z);
}
//VerticeListToShow.Add(plane.transform.TransformPoint(verticeList[0]));
//VerticeListToShow.Add(plane.transform.TransformPoint(verticeList[10]));
//VerticeListToShow.Add(plane.transform.TransformPoint(verticeList[110]));
//VerticeListToShow.Add(plane.transform.TransformPoint(verticeList[120]));
}
bool badTraining = false;
foreach (var trainingData in training_y)
{
if (trainingData > 10 || trainingData < -10)
{
badTraining = true;
Debug.Log("Bad training data: " + trainingData);
}
}
if (!badTraining)
{
if (Math.Abs(training_y[1]) < 0.01)
{
Debug.LogError("Bad training data which is being sent: " + training_y[1]);
}
var request = TelegramFactory.CreateAddTrainingDataRequest(training_x.ToArray(), training_y.ToArray());
externalCommunication.SendAsynch(request);
}
}
void TrainEpoch(Request requestAnswer)
{
var beginTrainingRequest = TelegramFactory.CreateBeginTrainingRequest();
externalCommunication.SendAsynch(beginTrainingRequest, TrainEpoch);
}
void Start()
{
externalCommunication = ExternalCommunication.GetSingleton();
trainGameObjects = new List <GameObject>();
predictGameObjects = new List <GameObject>();
if (Train)
{
System.Type mType = System.Type.GetType(TrainScriptName);
gameObject.AddComponent(mType);
for (int i = 0; i < TrainAmount; i++)
{
transform.position = transform.position + new Vector3(
Random.Range(-MaxStartDiff, MaxStartDiff),
Random.Range(-MaxStartDiff, MaxStartDiff),
Random.Range(-MaxStartDiff, MaxStartDiff));
var newVelocity = new Vector3(
Random.Range(-MaxStartVelocity, MaxStartVelocity),
Random.Range(-MaxStartVelocity, MaxStartVelocity),
Random.Range(-MaxStartVelocity, MaxStartVelocity));
var trainObject = (Instantiate(TrainPrefab, transform.position, Quaternion.identity));
trainObject.GetComponent <WaterDropReset>().MaxStartDiff = MaxStartDiff;
trainObject.GetComponent <WaterDropReset>().MaxStartVelocity = MaxStartVelocity;
var stateHistory = trainObject.GetComponent <StateHistory>();
stateHistory.HistoryParameterTypes.Add(StateHistory.HistoryParameterType.Position);
stateHistory.HistoryParameterTypes.Add(StateHistory.HistoryParameterType.Velocity);
stateHistory.StepsToRemember = StepsToRemember;
trainGameObjects.Add(trainObject);
}
new Thread(new ThreadStart(() =>
{
Thread.Sleep(CollectTraindataTime * 1000);
UnityMainThreadDispatcher.Instance().Enqueue(() =>
{
foreach (var trainGameObject in trainGameObjects)
{
Destroy(trainGameObject);
}
if (BeginLearningAfterDataGeneration)
{
var beginTrainingRequest = TelegramFactory.CreateBeginTrainingRequest();
externalCommunication.SendAsynch(beginTrainingRequest, TrainEpoch);
}
});
})).Start();
}
if (Predict)
{
System.Type mType = System.Type.GetType(PredictScriptName);
gameObject.AddComponent(mType);
for (int i = 0; i < PredictAmount; i++)
{
var predictObject = (Instantiate(PredictPrefab, transform.position, Quaternion.identity));
predictGameObjects.Add(predictObject);
}
}
}